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115

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Appendix

2:

Label

list

Label

Type

Position

Description

Reference

A0

Terminal

name

7,

7,

7 Address

bus

0

(LSB)

(PCL6113,

6123,

6143)

P8,

17

A1

Terminal

name

8,

8,

8 Address

bus

1

(PCL6113,

6123,

6143)

P8,

17

A2

Terminal

name

9,

9,

9 Address

bus

2

(PCL6113,

6123,

6143)

P8,

17

A3

Terminal

name

10,

10 Address

bus

3

(PCL

6123,

6143)

P8,

17

A4

Terminal

name

11 Address

bus

4

(MSB)

(PCL6143)

P8,

17

ALM

Terminal

name

39

Driver

alarm

signal

(PCL

6113)

P10,

83

ALML

Register

bit

RENV1

9

Set

the

input

logic

for

the

ALM

signal

(0:

Negative,

1:

Positive)

P38,

83

ALMM

Register

bit

RENV1

8

Select

the

process

to

use

when

the

ALM

input

is

ON

(0:

Immediate

stop,

1:

Deceleration

stop)

P38,

83

ALMu

Terminal

name

134 U

axis

driver

alarm

signal

(PCL6143)

P10,

83

ALMx

Terminal

name

40,

41 X

axis

driver

alarm

signal

(PCL

6123,

6143) P10,

83

ALMy

Terminal

name

77,

72 Y

axis

driver

alarm

signal

(PCL

6123,

6143) P10,

83

ALMz

Terminal

name

102 Z

axis

driver

alarm

signal

(PCL6143)

P10,

83

AS0

to

13

Register

bit

RSPD

0-15

Monitor

current

speed

P47

Terminal

name

64

Operation

monitor

output

(PCL6113)

P13

Terminal

name

159 Operation

monitor

output

for

the

U

axis

(PCL6143)

P13

Terminal

name

65,

66 Operation

monitor

output

for

the

X

axis

(PCL

6123,

6143) P13

Terminal

name

102,

97 Operation

monitor

output

for

the

Y

axis

(PCL

6123,

6143) P13

Terminal

name

128 Operation

monitor

output

for

the

Z

axis

(PCL6143)

P13

BUFB0

Byte

map

name

4

for

Z80

Write/read

the

input/output

buffer

(bits

0

to

7).

P18,

20

BUFB1

Byte

map

name

5

for

Z80

Write/read

the

input/output

buffer

(bits

8

to

15)

P18,

20

BUFB2

Byte

map

name

6

for

Z80

Write/read

the

input/output

buffer

(bits

16

to

23)

P18,

20

BUFB3

Byte

map

name

7

for

Z80

Write/read

the

input/output

buffer

(bits

24

to

31)

P18,

20

BUFW0

Word

map

name

4

for

8086

Write/read

the

input/output

buffer

(bits

0

to

15)

P18,

21

BUFW1

Word

map

name

6

for

8086

Write/read

the

input/output

buffer

(bits

16

to

31)

P18,

21

C1S0

to

1

Register

bit

RENV3

12-13 Select

a

comparison

counter

for

comparator1

P42,

93

C1RM

Register

bit

RENV3

7

Set

COUNTER1

for

ring

count

operation

using

Comparator

1.

P42,

93

C2S0

to

1

Register

bit

RENV3

14-15 Select

a

comparison

counter

for

Comparator

2

P42,

93

C2RM

Register

bit

RENV3

11

Set

COUNTER2

for

ring

count

operation

using

Comparator

2

P42,

93

Terminal

name

77,

124,

170 Emergency

stop

signal

(PCL6113,

6123,

6143)

P8,

87

CIS1

Register

bit

RENV3

0

Set

COUNTER1

to

count

input

pulses

P42,

92

CIS2

Register

bit

RENV3

1

Set

COUNTER2

to

count

input

pulses

P42,

92

CLK

Terminal

name

69,

113,

163 Reference

clock

(19.6608

MHz

as

standard)

(PCL6113,

6123,

6143)

P7

CMEMG

Command

05h

Emergency

stop

P25,

87

CMSTA

Command

06h

Output

(simultaneous

start)

signal

P25,

85

CMSTP

Command

07h

Output

(simultaneous

stop)

signal

P25,

87

CND0

to

3

Register

bit

RSTS

0-3

Operation

status

monitor

P45

CNTD

Command

56h

Remaining

high

speed

start

pulses

(FH

low

speed

->

Deceleration

stop)

P25

CNTFH

Command

55h

Remaining

pulses

FH

low

speed

start

pulses

P25

CNTFL

Command

54h

Remaining

pulses

FL

low

speed

start

pulses

P25

CNTUD

Command

57h

Remaining

high

speed

start

pulses

(accelerate

->

FH

low

speed

->

deceleration

stop)

P25

COMB0

Byte

map

name

Write

control

command

P19

COMB1

Byte

map

name

Axis

selection

P19

COMW

Word

map

name

Assign

an

axis,

or

write

a

control

command

P19

COUNTER1

Circuit

name

28-bit

counter1

for

command

position

control

P43,

88

COUNTER2

Circuit

name

28-bit

counter2

for

mechanical

position

control

P43,

88

Terminal

name

70

Comparator

1

output

signal

for

the

X

axis

(PCL6123)

P13

Terminal

name

107

Comparator

1

output

signal

for

the

Y

axis

(PCL6123)

P13

Terminal

name

71

Comparator

2

output

signal

for

the

X

axis

(PCL6123)

P13

Terminal

name

108

Comparator

2

output

signal

for

the

Y

axis

(PCL6123)

P13

Terminal

name

4,

4,

4 Chip

select

signal

(PCL6113,

6123,

6143) P8

Terminal

name

74,

121,

167 Simultaneous

deceleration

signal

(PCL6113,

6123,

6143)

P9

CSPO

Register

bit

RENV2

13

Output

a

signal

even

though

an

axis

is

stopped

by

a

command

P40

Terminal

name

75,

122,

168 Simultaneous

start

signal

(PCL6113,

6123,

6143) P9,

85

Terminal

name

76,

123,

169 Simultaneous

stop

signal

(PCL6113,

6123,

6143)

P9,

87

CU1H

Register

bit

RENV3

2

Stop

counting

on

COUNTER1

P42,

91

CU1L

Register

bit

RENV3

4

Reset

COUNTER1

right

after

latching

the

count

value.

P42,

90

CU1R

Register

bit

RENV3

6

Reset

COUNTER1

when

the

zero

return

is

complete.

P42,

90

CU2H

Register

bit

RENV3

3

Stop

the

count

on

COUNTER2

P42,

90

CU2L

Register

bit

RENV3

8

Reset

COUNTER2

right

after

latching

the

count

value.

P42,

90

CU2R

Register

bit

RENV3

10

Reset

COUNTER2

when

the

zero

return

is

complete

P42,

90

CUN1R

Command

20h

Reset

COUNTER1

P27,

91

CUN2R

Command

21h

Reset

COUNTER2

P27,

91

D0

Terminal

name

15,

16,

17 Data

bus

0

(LSB)

(PCL6113,

6123,

6143)

P8

D1

Terminal

name

16,

17,

18 Data

bus

1

(PCL6113,

6123,

6143)

P8

D10

Terminal

name

27,

28,

29 Data

bus

10

(PCL6113,

6123,

6143)

P8

D11

Terminal

name

28,

29,

30 Data

bus

11

(PCL6113,

6123,

6143)

P8

D12

Terminal

name

30,

31,

32 Data

bus

12

(PCL6113,

6123,

6143)

P8

D13

Terminal

name

31,

32,

33 Data

bus

13

(PCL6113,

6123,

6143)

P8

D14

Terminal

name

32,

33,

34 Data

bus

14

(PCL6113,

6123,

6143)

P8

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Summary of Contents for PCL6113

Page 1: ...User s Manual For PCL6113 6123 6143 Pulse Control LSI Nippon Pulse Motor Co Ltd...

Page 2: ...ming intervals in this manual are based on a reference clock of 19 6608 MHz Thank you for considering our pulse control LSI the PCL6100 series Before using the product read this manual to become famil...

Page 3: ...ng the sub status and input output port SSTSW SSTSB IOPB 23 7 Commands Operation and Control Commands 24 7 1 Operation commands 24 7 1 1 Procedure for writing an operation command 24 7 1 2 Start comma...

Page 4: ...register 47 8 3 27 RSDC register 47 9 Operation Mode 48 9 1 Continuous operation mode using command control 48 9 2 Positioning operation mode 48 9 2 1 Positioning operation 48 9 2 2 Timer operation 4...

Page 5: ...Counter type and input method 88 11 9 2 Counter reset 90 11 9 3 Stop the counter 91 11 10 Comparator 92 11 10 1 Comparator types and functions 93 11 10 2 Ring count function 93 11 11 Synchronous star...

Page 6: ...items 113 Appendix 1 List of commands 113 Appendix 2 Label list 115 Handling Precautions 123 1 Design precautions 123 2 Precautions for transporting and storing LSIs 123 3 Precautions for installation...

Page 7: ...types Z80 8086 H8 or 68000 etc Acceleration deceleration speed control Linear acceleration deceleration and S curve acceleration deceleration are available Linear acceleration deceleration can be inse...

Page 8: ...x or up and down signals When an EL signal of the feed direction is input the PCL stops the output of pulses But it can feed in the opposite direction without any command Direct input of operation swi...

Page 9: ...SD and ORG signals can be changed using software Servomotor I F The following three signals can be used as an interface for each axis 1 INP Input positioning complete signal that is output by a servom...

Page 10: ...will be 15 Mpps Acceleration deceleration characteristics Selectable acceleration deceleration pattern for both increasing and decreasing speed separately using Linear and S curve acceleration decele...

Page 11: ...5 3 Terminal Assignment Diagram 3 1 PCL6113 3 2 PCL6123...

Page 12: ...milar to an indexing mark O mark may be printed on the LSI for production reasons The model name and the position of the 1st terminal are as shown in the terminal allocation drawings You can also iden...

Page 13: ...k to 10 k ohms Terminal No Signal name PCL 6113 PCL 6123 PCL 6143 Input output Logic Treat ment Description GND 10 19 29 43 55 65 70 80 11 20 30 44 56 66 81 93 103 114 128 12 21 31 45 57 67 83 93 107...

Page 14: ...e determined by reading the main status Each interrupt will be reset by reading the main status REST error interrupt cause register or RIST event interrupt cause register The signal can be masked 12 1...

Page 15: ...D is required The terminal status can be checked on the RSTS terminal extension status 75 122 168 Input Output Negative PU This is an input output terminal for simultaneous starts When performing mult...

Page 16: ...minal status can be checked using an SSTSW command signal sub status SD SDn 37 X 38 Y 75 X 39 Y 70 Z 101 U 132 Input N V Input deceleration signal Selects the input method LEVEL or LATCHED inputs The...

Page 17: ...unt pulses The counting direction can be changed using software EZ EZn 46 X 47 Y 84 X 48 Y 79 Z 110 U 141 Input N GN Input a marker signal this signal is output once for each turn of the encoder when...

Page 18: ...When used as an MVC terminal it will output a signal during operation at a constant speed The MVC output logic can be set using software P3 CP1 P3n CP1n 54 X 55 Y 92 X 56 Y 87 Z 118 U 149 Input Outpu...

Page 19: ...driver The output logic and pulse width can be changed using software The terminal status can be checked using an RSTS command signal 64 X 65 Y 102 X 66 Y 97 Z 128 U 159 Output Negative OP Outputs a L...

Page 20: ...14 5 Block Diagram...

Page 21: ...input The lower addresses correspond to the upper word in the I O buffer Convenient for H8 series CPUs 16 bit I F 3 A 16 bit interface with an RD input and a WR input The lower addresses correspond t...

Page 22: ...15 A0 WRQ System reset IPL0 IPL2 R W RESET INT RD WR RST CLK GND Interrupt control circuit 3 3V Note The PCL6113 uses A1 to A2 The PCL6123 uses A1 to A3 The PCL6143 uses A1 to A4 2 16 bit I F 2 IF1 L...

Page 23: ...A RD WR READY RESET MN MX INT RD WR WRQ RST IF1 IF0 A1 A4 A0 D0 D15 Note The PCL6113 uses A1 to A2 The PCL6123 uses A1 to A3 The PCL6143 uses A1 to A4 4 8 bit I F IF1 H IF0 H Decode circuit Z80 PCL614...

Page 24: ...y bits assigned as outputs are effective 01 BUFW0 Write to the input output buffer bits 0 to 15 00 BUFW1 Write to the input output buffer bits 16 to 31 2 Readout cycle A1 to A2 Address signal Processi...

Page 25: ...output buffer bits 8 to 15 110 BUFB2 Write to the input output buffer bits 16 to 23 111 BUFB3 Write to the input output buffer bits 24 to 31 2 Read cycle A0 to A2 Address signal Processing detail 000...

Page 26: ...ple below uses the PCL6143 1 Commands and data I O are written as one set per axis and a total of up to 4 sets can be used In this case the axis specification COMB1 other than starting or stopping an...

Page 27: ...pper 8 bits are ignored However they should be set to 0 for future compatibility OTP0 to 7 Specify the status of output terminals P7n to P0n n x y z and u A HIGH is output when the bit is set to 1 6 5...

Page 28: ...ESET 5 SINT Set to 1 when an error interrupt occurs Set to 0 by reading the RIST 6 to 7 SSC0 to 1 Sequence number for execution or stopping 8 SCP1 Set to 1 when the COMPARATOR 1 comparison conditions...

Page 29: ...t Bit name Description 0 to 7 IOP0 to 7 Read the status of P0 to 7 0 L level 1 H level 8 SFU Set to 1 while accelerating 9 SFD Set to 1 while decelerating 10 SFC Set to 1 while feeding at low speed 11...

Page 30: ...eading a register and reading the I O buffer When the output signal is used by connecting it to the CPU the CPU automatically ensures this waiting time If you want to use a CPU that does not have this...

Page 31: ...it will be ignored COMB0 Symbol Description 40h FCHGL Change to the FL speed immediately 41h FCHGH Change to the FH speed immediately 42h FSCHL Decelerate and change to the FL speed 43h FSCHH Acceler...

Page 32: ...y writing to a general purpose output port OTPB Address 2 when an 8 bit I F is used you can set 8 bits as a group See section 7 5 General purpose output port control COMB0 Symbol Description COMB0 Sym...

Page 33: ...uts the ERC signal 25h ERCRST Resets the output when the ERC signal output is specified to a level type output 7 3 4 Pre register control command Cancel the pre register settings See section 8 2 Pre r...

Page 34: ...n an 8 bit I F is used After writing one set of data wait at least two cycles approx 0 2 sec when CLK 19 6608 MHz before writing the next set of data In both case 1 and case 2 when the output is conne...

Page 35: ...s data 27 RIP D8h RRIP 98h WRIP PRIP C8h RPRIP 88h WPRIP 10 Acceleration S curve range 13 RUS D9h RRUS 99h WRUS PRUS C9h RPRUS 89h WPRUS 11 Deceleration S curve range 13 RDS DAh RRDS 9Ah WRDS PRDS CAh...

Page 36: ...atibility The output status of terminals P0 to P7 are latched even after the I O setting is changed to input The output status for each terminal can be set individually using the bit control command 7...

Page 37: ...RENV1 32 R W Environment setting 1 specify I O terminal details 13 RENV2 31 R W Environment setting 2 specify general purpose port details 14 RENV3 22 R W Environment setting 3 specify zero return and...

Page 38: ...er to prevent this problem the determined not determined status is used When a start command is written the other operation data is considered to be determined and the PCL will continue its operation...

Page 39: ...ter cancel command 26h 2 A stop ordered by using the immediate stop command 49h or deceleration stop command 4Ah While in a positioning operation when the deceleration stop command is written during a...

Page 40: ...for high speed with acceleration deceleration operations RFL is the register for PRFL 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 The setting range is 1 to 16...

Page 41: ...003Bh 20 20 to 327 660 2399 095Fh 0 5 0 5 to 8 191 5 23 0017h 50 50 to 819 150 1199 04AFh 1 1 to 16 383 11 000Bh 100 100 to 1 638 300 599 0257h 2 2 to 32 766 5 0005h 200 200 to 3 276 600 239 00EFh 5...

Page 42: ...Delay using an INP input will be possible Checking can be done with RSTS in sub status 1 Completes operation by turning ON the INP input 10 MSMD Specify an acceleration deceleration type for high spee...

Page 43: ...et 0 28 MCDE 1 Decelerates when input goes LOW Set this bit to 1 to decelerate simultaneously with other axes 29 MCDO 1 Outputs a LOW on the terminal when decelerating or at FL constant speed 30 to 31...

Page 44: ...iption 0 to 2 PMD0 to 2 Specify OUT output pulse details 3 ELM Specify the process to occur when the EL input is turned ON 0 Immediate stop 1 Deceleration stop Note 1 2 4 SDM Specify the process to oc...

Page 45: ...ng 1 Rising 24 PCSL Specify the PCS signal input logic 0 Negative logic 1 Positive logic 25 DRL Specify the DR DR signal input logic 0 Negative logic 1 Positive logic 26 FLTR 1 Apply a filter to the E...

Page 46: ...e input 01 General purpose output 10 Output the CP1 satisfied the Comparator 1 conditions signal with negative logic 11 Output the CP1 satisfied the Comparator 1 conditions signal with positive logic...

Page 47: ...the PA PB inputs 24 to 27 EZD0 to 3 Specify an EZ count value to be used for zero return 0000 1st time to 1111 16th time 28 EZL Specify EZ signal input logic 0 Falling edge 1 Rising edge 29 ORM Select...

Page 48: ...to ring counter operation using Comparator 2 12 to 13 C1S0 to 1 Select a comparison method for Comparator 1 00 Turn the comparator function off 01 RCMP1 data Comparison counter 10 RCMP1 data Comparis...

Page 49: ...etting range 134 217 728 to 134 217 727 For details about the counters see section 11 11 Counters 8 3 18 RCMP2 register Specify the comparison data for Comparator 2 Setting range 134 217 728 to 134 21...

Page 50: ...IROL When latching the count value with an ORG signal input 10 IRSD When the SD input is ON Even when the SD input is disabled by setting MSDE 0 in the PRMD register an interrupt will occur 11 IRDR Wh...

Page 51: ...g at FH low speed 1101 Decelerating 1110 Waiting for INP input Others controlling start stop 4 SCD When the input signal is ON this bit becomes 1 5 SSTA Becomes 1 when the input signal is turned ON 6...

Page 52: ...t stop 8 ESPE A PA PB input error occurred Does not stop 9 to 31 Not defined Always set to 0 8 3 24 RIST register This register is used to check the cause of event interruption Read only When an event...

Page 53: ...the value is 0 14 to 15 Not defined Always set to 0 16 to 19 ECZ0 to 3 Read the count value of EZ input that is used for a zero return 20 to 31 Not defined Always set to 0 8 3 27 RSDC register This re...

Page 54: ...gister absolute setting value is loaded into the positioning counter RPLS The PCL counts down pulses with operations and when the value of the positioning counter drops to 0 movement on the axes stops...

Page 55: ...phase difference signals and 1x input PIM 00 2 When using 90 o phase difference signals and 2x input PIM 01 3 When using 90 o phase difference signals and 4x input PIM 10 4 When using two pulse input...

Page 56: ...er Set DRF bit 27 in RENV1 1 Insert a filter on DR input and input By setting the filter the PCL ignores signals shorter than 32 msec RENV1 WRITE 31 24 n Reading operation status CND bit 0 to 3 in RST...

Page 57: ...rising edge The PCL stops operation when the EL signal in the current feed direction is turned ON But the PCL can be operated in the opposite direction without writing a restart command When stopped...

Page 58: ...cause ISPD bit 11 and ISMD bit 12 in RIST ISPD bit 11 1 When the DR signal input changes ISMD bit 12 1 When the DR signal input changes RIST READ 15 8 0 0 n n Read operation status CND bits 0 to 3 in...

Page 59: ...data in the RMV register is loaded into the positioning counter When the DR input is ON the LSI will output pulses and the positioning counter will start counting down pulses When the positioning cou...

Page 60: ...negative direction at a constant FL speed and stops immediately when the ORG input changes from OFF to ON 51h Feeds in a negative direction at a constant FH speed and stops immediately when the ORG i...

Page 61: ...1 6 ms RENV1 WRITE 23 16 n n Reading the EZ signal SEZ bit 10 in RSTS 0 Turn OFF the EZ signal 1 Turn ON the EZ signal RSTS READ 15 8 n Set the input logic for the EZ signal EZL bit 28 in RENV2 0 Ris...

Page 62: ...echanical position provides a reliable value High speed operation Sensor EL ELM 1 SD SDM 0 SDLT 0 ORG Note Positions marked with reflect the ERC signal output timing when Automatically output an ERC s...

Page 63: ...EZ EZD 0001 High speed operation Sensor EL ORG EZ EZD 0001 Note Positions marked with reflect ERC signal output timing when Automatically output an ERC signal is selected for the zero stopping positio...

Page 64: ...required 9 6 2 Interpolation procedures 1 Enter a feed amount with a sign in the PRMV register for each axis The sign specifies the feed direction 2 Enter the absolute value of the PRMV from the axis...

Page 65: ...ck marks in the figure on the right 9 6 3 Operation during interpolation Acceleration deceleration operations In addition to constant speed operation these axes can accelerate decelerate linear accele...

Page 66: ...continuous linear interpolation Continuous interpolation refers to linear interpolation operations performed successively An example of the settings for continuous interpolation using the pre registe...

Page 67: ...ation stop command 4Ah High speed operation 1 FH FL f t 1 2 When the deceleration stop command 49h is written to the register the PCL immediately stops operation 1 Write high speed start command 1 52h...

Page 68: ...leration range 13 0 to 8 191 1FFFh RDS Note 1 If PRDR is set to zero the deceleration rate will be the value set in the PRUR Relative position of each register setting for acceleration and deceleratio...

Page 69: ...0 in the PRMD register set the PRDR register the same as PRUR register setting or enter 0 When PRDR 0 the deceleration rate will be the value placed in the PRUR The relationship between the value ent...

Page 70: ...rt decelerating Note In order to obtain the correct manual setting value you have to know the actual maximum speed When there is only a small feed amount and the motor would have to decelerate while s...

Page 71: ...FL speed and FL speed SSU and between FH speed SSU and the FH speed will be S curve acceleration operations Intermediate speeds will use linear acceleration However if zero is specified PRFH PRFL 2 w...

Page 72: ...lt However the ramp down point auto setting function can only be used when the acceleration curve and deceleration curve are symmetrical In other words if you want to make the acceleration and deceler...

Page 73: ...gister 0 3 1 When PRUS PRDS i Set up a small linear acceleration range PRFH PRFL x PRFH PRFL 2 x PRUS x PRUR PRDR 2 PRMV PRMG 1 x 16384 and PRUS PRFL x PRUS x PRUR PRDR 2 x 4 PRMV PRMG 1 x 16384 PRMG...

Page 74: ...PRUS PRFL x PRUS x PRUR PRDR 2 x 8 PRMV PRMG 1 x 16384 Change to S curve acceleration deceleration without any linear acceleration deceleration PRUS 0 PRDS 0 A A2 B PRFH PRUR 2 x PRDR 3 However A PRUS...

Page 75: ...PRDS PRFL x PRDS x PRUR PRDR 2 x 8 PRMV PRMG 1 x 16384 Change to S curve acceleration deceleration without any linear acceleration PRUS 0 PRDS 0 A A2 B PRFH 2 x PRUR PRDR 3 However A PRDS x PRDR 1 B P...

Page 76: ...fication is set to the 10x mode PRFL 10 000Ah 4 In order to make the acceleration deceleration time 300 msec calculate from the equation for the acceleration time and the RUR value PRFH PRFL x PRUR 1...

Page 77: ...during a linear acceleration deceleration operation 1 Use a small RFH while accelerating or decelerating the axis until it reaches the correct speed 2 3 Change RFH after the acceleration deceleration...

Page 78: ...ions of the LSI will be configured as follows Item Reset status initial status n x y z u Internal registers pre register 0 Control command buffer 0 Axis assignment buffer 0 Input output buffer 0 termi...

Page 79: ...e Assume that the current speed is Fu and when RFL Fu a curve of the next acceleration will be equal to a normal acceleration curve 3 If the axis has already passed over the new target position or the...

Page 80: ...MPCS in the PRMD operation mode register 1 the PCL will perform positioning operations for the amount specified in the PRMV register based on the timing of this command after the operation start afte...

Page 81: ...o 2 in RENV1 environment setting 1 If motor drivers using the common pulse mode need a lag time since the direction signal changes until receiving a command pulse use a direction change timer When DTM...

Page 82: ...peration mode the operation complete timing can be changed 1 When METM 0 the point at which the output frequency cycle is complete in the PRMD register 2 When METM 1 when the output pulse is OFF in th...

Page 83: ...al turns ON Set ELM bit 3 in RENV1 0 Immediate stop by turning ON the EL signal 1 Deceleration stop by turning ON the EL signal RENV1 WRITE 7 0 n Setting the EL input filter Set FLTR bit 26 in RENV1 1...

Page 84: ...peed operation the axis will stop While in high speed operation the axis will decelerate to FL speed when the SD signal is turned ON and then stop If the SD signal is turned OFF during deceleration th...

Page 85: ...7 0 n Set the operation pattern when the SD signal is turned ON Set SDM bit 4 in RENV1 0 Decelerates on receiving the SD signal and feeds at FL low speed 1 Decelerates and stops on receiving the SD si...

Page 86: ...RG input and EZ input RENV2 WRITE 31 24 n Set the input logic for the ORG signal Set ORGL bit 7 in RENV1 0 Negative logic 1 Positive logic RENV1 WRITE 7 0 n Set the ORG input filter FLTR bit 26 in REN...

Page 87: ...The minimum pulse width of the INP signal is 2 cycles of the reference clock 0 1 sec when the input filter is OFF If the input filter is ON the PCL does not receive pulses shorter than the set length...

Page 88: ...for an immediate stop based on the EL signal ALM signal or signal input or on the emergency stop command 05h set EROE bit 10 1 in the RENV1 register and set automatic output for the ERC signal In the...

Page 89: ...signal is 2 cycles of the reference clock 0 1 s if the input filter is OFF If the input filter is ON the PCL does not receive pulses shorter than the specified length The input logic of the ALM signa...

Page 90: ...want to start Write a start command and put the LSI in the waiting for input status Then start the axes simultaneously by either of the methods described below 1 By writing a simultaneous start comma...

Page 91: ...n command 06h Local axis only simultaneous start command SPSTA Operation command Used the same way as when a signal is supplied for a local axis only Operation command 2Ah 11 6 2 PCS signal The PCS in...

Page 92: ...tus by reading the RSTS register extension status How to make a simultaneous stop Set MSPE bit 24 1 in the PRMD register for each of the axes that you want to stop simultaneously Then start these axes...

Page 93: ...eive signals output from other PCLs Operation command 07h 11 8 Emergency stop This LSI has a input terminal for use as an emergency stop signal While in operation if the input goes LOW or if you write...

Page 94: ...ence signals 1x 2x 4x Counter direction Count up when the EA input phase is leading Count down when the EB input phase is leading 2 Signal input method Input 2 sets of positive and negative pulses Cou...

Page 95: ...nd count timing will be as follows For details about the PA PB input see section 9 3 Pulsar input mode 1 When using 90 o phase difference signals and 1x input 2 When using 90 o phase difference signal...

Page 96: ...clear function Set CU1L bit 4 in RENV3 0 COUNTER1 is not cleared after it is latched 1 COUNTER1 is cleared soon after it is latched RENV3 WRITE 7 0 n Set the COUNTER2 latch clear function Set CU2L bi...

Page 97: ...input is masked the input to the selected counter will be stopped A counter which is counting output pulses will stop counting if the timer mode is selected regardless of the counter stop method selec...

Page 98: ...COUNTER1 10 RCMP1 COUNTER1 11 RCMP1 COUNTER1 RENV3 WRITE 15 8 n n Set an event interrupt factor Set IRC1 2 bits 6 7 in RIRQ IRC1 bit 6 1 Outputs an signal when Comparator 1 conditions are met IRC2 bi...

Page 99: ...3 1 Operate COUNTER1 as a ring counter RENV2 WRITE 7 0 n Set COUNTER2 to ring count operation set C2RM bit 11 in RENV3 1 Operate COUNTER2 as a ring counter RENV2 WRITE 15 8 n Even if the value for PRM...

Page 100: ...Y0 to 1 bits 18 19 in PRMD 11 Start triggered by specified axis stopping PRMD WRITE 23 16 n n Select an axis for confirming a stop setting example Specify the axis using MAX0 to Max3 bits 20 to 23 in...

Page 101: ...ring the interpolation operation Linear interpolation between the X and Y axes Linear interpolation between the X and Z axes Step Register X axis Y axis Z axis Description PRMV 10000 5000 0 PRIP 10000...

Page 102: ...NV3 WRITE 23 16 n n Reading the operation status CND bits 0 to 3 in RSTS 0011 Waiting for an internal synchronous signal RSTS WRITE 7 0 n n n n Example 1 below shows a case of using the internal synch...

Page 103: ...period after the Comparator 1 conditions are established and the X axis starts Note In the example above even if the Y feed amount is set to 2000 and the X feed amount is set to 1000 the X axis will b...

Page 104: ...of the interrupt 4 If bit 5 SINT is 1 read the RIST register to identify the cause of the interrupt 5 Repeat steps 1 to 4 above for the Y Z and U axes The steps above will allow you to evaluate the c...

Page 105: ...Stopped by turning ON the EL input 0 ESPL Stopped by turning ON the EL input 1 ESML Stopped by turning ON the ALM input 2 ESAL Stopped by turning ON the input 3 ESSP Stopped by turning ON the input 4...

Page 106: ...ark Power supply voltage VDD 0 3 to 4 0 V Input voltage VIN 0 3 to 7 0 V Output current IOUT 30 mA Storage temperature Tstg 65 to 150 o C 12 2 Recommended operating conditions Item Symbol Rating Unit...

Page 107: ...input voltage VIH 2 0 7 0 V LOW output voltage VOL IOL 6 mA 0 4 V HIGH output voltage VOH IOH 6 mA VDD 0 4 V LOW output current IOL VOL 0 4 V 6 mA HIGH output current IOH VOH VDD 0 4 V 6 mA Internal...

Page 108: ...ns CS hold time for TSCS 0 ns setup time for TRWS 1 ns hold time for TSRW 1 ns TSLAKR CL 40pF TCLK 4TCLK 15 ns ON delay time for TSLAKW CL 40pF TCLK 4TCLK 15 ns TSHAKR CL 40pF 17 ns OFF delay time fo...

Page 109: ...ld time for TRWCS 0 ns ON delay time for TCSWT CL 40pF 13 ns signal LOW time TWAIT 4TCLK ns Data output delay time for TRDLD CL 40pF 21 ns Data output delay time for TWTHD CL 40pF 10 ns Data float del...

Page 110: ...old time for TRWCS 0 ns ON delay time for TCSWT CL 40pF 13 ns signal LOW time TWAIT 4TCLK ns Data output delay time for TRDLD CL 40pF 21 ns Data output delay time for TWTHD CL 40pF 10 ns Data float de...

Page 111: ...ld time for TRWCS 0 ns ON delay time for TCSWT CL 40pF 13 ns signal LOW time TWAIT 4TCLK ns Data output delay time for TRDLD CL 40pF 21 ns Data output delay time for TWTHD CL 40pF 10 ns Data float del...

Page 112: ...ignal OFF timer time RENV1 ETW 11 1835009 TCLK 1966080 TCLK ns RENV1 FLTR 0 TCLK FLTR 1 FTM 00 64 TCLK FLTR 1 FTM 01 512 TCLK FLTR 1 FTM 10 4096 TCLK EL EL SD ORG ALM INP input signal length FLTR 1 FT...

Page 113: ...in the 2 pulse mode 4 When the PA PB inputs are in the 90 o phase difference mode 5 Timing for the command mode when I M H and B H 6 Simultaneous start timing EA EB TEAB TEAB TEAB TEAB TEAB TEAB TEAB...

Page 114: ...108 7 Deceleration start timing triggered by a command 8 Deceleration start timing triggered by the SD input 9 Stop timing by a command 10 Stop timing by normal automatic stop...

Page 115: ...109 11 Stop timing by error...

Page 116: ...110 13 External Dimensions 13 1 PCL6113...

Page 117: ...111 13 2 PCL6123...

Page 118: ...112 13 3 PCL6143...

Page 119: ...eleration stop General purpose port control commands COMB0 Symbol Description COMB0 Symbol Description 10h P0RST Set the P0 terminal LOW 18h P0SET Set the P0 terminal HIGH 11h P1RST Set the P1 termina...

Page 120: ...98h WRIP PRIP C8h RPRIP 88h WPRIP 10 S curve range while accelerating 13 RUS D9h RRUS 99h WRUS PRUS C9h RPRUS 89h WPRUS 11 S curve range while decelerating 13 RDS DAh RRDS 9Ah WRDS PRDS CAh RPRDS 8Ah...

Page 121: ...to count input pulses P42 92 CLK Terminal name 69 113 163 Reference clock 19 6608 MHz as standard PCL6113 6123 6143 P7 CMEMG Command 05h Emergency stop P25 87 CMSTA Command 06h Output simultaneous st...

Page 122: ...43 P9 ELLx Terminal name 125 171 Set the input logic of the end limit signal for the X axis PCL6123 6143 P9 ELLy Terminal name 126 172 Select the input logic of the end limit signal for the Y axis PCL...

Page 123: ...able an INT when there is a normal stop P44 IRLT Register bit RIRQ 8 Enable an INT when the count value is latched by an LTC input P44 IRNM Register bit RIRQ 1 Enable an INT when writing to the pre re...

Page 124: ...l P0 HIGH P26 P0u FUPu Terminal name 146 General purpose port 0 for the U axis Monitor output during acceleration PCL 6143 P11 P0x FUPx Terminal name 52 53 General purpose port 0 for the X axis Monito...

Page 125: ...PCL6123 6143 P11 PAy DRy Terminal name 85 80 Manual pulsar phase A input for the Y axis PCL6123 6143 P11 PAz DRz Terminal name 111 Manual pulsar phase A input for the Z axis PCL6143 P11 PB DR Termina...

Page 126: ...1 data to BUF P29 RRCUN2 Command E4h Copy RCUN2 data to BUF P29 RRDP Command D6h Copy RDP data to BUF P29 RRDR Command D4h Copy RDR data to BUF P29 RRDS Command DAh Copy RDS data to BUF P29 RRENV1 Com...

Page 127: ...s bit MSTSW 14 Equals 1 when the next operation pre register is full P22 SPSTA Command 2Ah The same process as the input P25 SRST Command 04h Software reset P27 SRUN Main status bit MSTSW 1 Equals 1 w...

Page 128: ...ite BUF data into the RFH register P29 WRFL Command 91h Write BUF data into the RFL register P29 WRIP Command 98h Write BUF data into the RIP register P29 WRIRQ Command ACh Write BUF data into the RIR...

Page 129: ...c electricity pay attention to the following Make sure to ground all equipment tools and jigs that are present at the work site Ground the work desk surface using a conductive mat or similar apparatus...

Page 130: ...devices Therefore do not use this method 4 Other precautions 1 When the LSI will be used in poor environments high humidity corrosive gases or excessive amounts of dust we recommend applying a moistu...

Page 131: ...3 Japan Phone 81 3 3813 8841 Fax 81 3 3813 7049 E mail device npm co jp http www pulsemotor com U S Office 1073 East Main Street Radford VA 24141 U S A Phone 1 540 633 1677 Fax 1 540 633 1674 E mail i...

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